I put in a ticket for this issue before finding this post. Tesla service told me the same thing. "Our technicians have informed us that the alert you are seeing is the vehicle operating as designed at this time. Tesla has informed us that future firmware may improve operation over time but at this time the best option is to simply press the car seat button."
This is such a stupid design thing to "be working as expected" that it baffles me. I love my vehicle, but some of the things that they won't fix or designed into the cars are just baffling.
If this doesn't happen to the majority of Model Y's, then I would think it's a sensor issue. Are these types of sensors pressure adjustable? Can they be set to trigger only with more weight, so at least when I have the seat back down and nothing heavy on top, I don't get a erroneous error message? Seems to me like the car could have been easily designed to detect when a seat is locked back, and therefore sensor should be active, and when it's not locked back and the sensor should be ignored.